{"id":"https://openalex.org/W2066291790","doi":"https://doi.org/10.1109/robot.2010.5509714","title":"Informative path planning for an autonomous underwater vehicle","display_name":"Informative path planning for an autonomous underwater vehicle","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2066291790","doi":"https://doi.org/10.1109/robot.2010.5509714","mag":"2066291790"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509714","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509714","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113786873","display_name":"Jonathan Binney","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210145666","display_name":"Embedded Systems (United States)","ror":"https://ror.org/04742eh45","country_code":"US","type":"company","lineage":["https://openalex.org/I4210145666"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jonathan Binney","raw_affiliation_strings":["Robotic Embedded Systems Laboratory and Department of Computer Science, University of Southern California, USA","Robotic Embedded Systems Laboratory and Department of Computer Science at the University of Southern California (USC), USA"],"affiliations":[{"raw_affiliation_string":"Robotic Embedded Systems Laboratory and Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I4210145666","https://openalex.org/I1174212"]},{"raw_affiliation_string":"Robotic Embedded Systems Laboratory and Department of Computer Science at the University of Southern California (USC), USA","institution_ids":["https://openalex.org/I4210145666","https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003040843","display_name":"Andreas Krause","orcid":"https://orcid.org/0000-0001-7260-9673"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andreas Krause","raw_affiliation_strings":["Computer Science Department, Caltech, USA","Computer Science Department at Caltech, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Caltech, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Computer Science Department at Caltech, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077367921","display_name":"Gaurav S. Sukhatme","orcid":"https://orcid.org/0000-0003-2408-474X"},"institutions":[{"id":"https://openalex.org/I4210145666","display_name":"Embedded Systems (United States)","ror":"https://ror.org/04742eh45","country_code":"US","type":"company","lineage":["https://openalex.org/I4210145666"]},{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gaurav S Sukhatme","raw_affiliation_strings":["Robotic Embedded Systems Laboratory and Department of Computer Science, University of Southern California, USA","Robotic Embedded Systems Laboratory and Department of Computer Science at the University of Southern California (USC), USA"],"affiliations":[{"raw_affiliation_string":"Robotic Embedded Systems Laboratory and Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I4210145666","https://openalex.org/I1174212"]},{"raw_affiliation_string":"Robotic Embedded Systems Laboratory and Department of Computer Science at the University of Southern California (USC), USA","institution_ids":["https://openalex.org/I4210145666","https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5113786873"],"corresponding_institution_ids":["https://openalex.org/I1174212","https://openalex.org/I4210145666"],"apc_list":null,"apc_paid":null,"fwci":12.6355,"has_fulltext":false,"cited_by_count":149,"citation_normalized_percentile":{"value":0.98731021,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4791","last_page":"4796"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.8456047773361206},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6435924768447876},{"id":"https://openalex.org/keywords/underwater-glider","display_name":"Underwater glider","score":0.6369621753692627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.631545901298523},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5193696618080139},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.48290228843688965},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40379300713539124},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3425438404083252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30852198600769043},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2317398488521576},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15903976559638977},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07125547528266907},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06601724028587341}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.8456047773361206},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6435924768447876},{"id":"https://openalex.org/C34824556","wikidata":"https://www.wikidata.org/wiki/Q2634473","display_name":"Underwater glider","level":3,"score":0.6369621753692627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.631545901298523},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5193696618080139},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.48290228843688965},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40379300713539124},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3425438404083252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30852198600769043},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2317398488521576},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15903976559638977},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07125547528266907},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06601724028587341},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509714","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509714","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:75117","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/75117/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.160.917","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.160.917","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cres.usc.edu/pubdb_html/files_upload/642.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G1997152942","display_name":null,"funder_award_id":"0540420","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2002595940","display_name":null,"funder_award_id":"120778","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2174791934","display_name":null,"funder_award_id":"0120778","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3126838354","display_name":null,"funder_award_id":"CNS-0540420","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G316724132","display_name":null,"funder_award_id":"N00014-08-1-0693","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G3725658357","display_name":null,"funder_award_id":"CCR-0120778","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3825989783","display_name":null,"funder_award_id":"N00014-09-1-1031","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G4715957715","display_name":null,"funder_award_id":"N00014-09-1-1031","funder_id":"https://openalex.org/F4320333591","funder_display_name":"Multidisciplinary University Research Initiative"},{"id":"https://openalex.org/G5127579537","display_name":null,"funder_award_id":"20778","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5969453550","display_name":"NeTS-NOSS: Mobility-assisted Network Deployment and Maintenance","funder_award_id":"0520305","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7457502673","display_name":null,"funder_award_id":"N00014-09-1-103","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8795157304","display_name":null,"funder_award_id":"N00014-09-1-1044","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320307764","display_name":"Microsoft","ror":"https://ror.org/00d0nc645"},{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332181","display_name":"National Oceanic and Atmospheric Administration","ror":"https://ror.org/02z5nhe81"},{"id":"https://openalex.org/F4320333591","display_name":"Multidisciplinary University Research Initiative","ror":null},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1517928915","https://openalex.org/W1607830304","https://openalex.org/W1746819321","https://openalex.org/W1985769637","https://openalex.org/W2055507009","https://openalex.org/W2084973704","https://openalex.org/W2100986500","https://openalex.org/W2106086387","https://openalex.org/W2120503472","https://openalex.org/W2125069195","https://openalex.org/W2131824593","https://openalex.org/W2135284429","https://openalex.org/W2136573967","https://openalex.org/W2148134592","https://openalex.org/W2151239055","https://openalex.org/W2169645448","https://openalex.org/W3003506411","https://openalex.org/W3099664902","https://openalex.org/W4211049957","https://openalex.org/W6631046737","https://openalex.org/W6679608865","https://openalex.org/W6684953212"],"related_works":["https://openalex.org/W2510489049","https://openalex.org/W3023844955","https://openalex.org/W634072508","https://openalex.org/W2106299680","https://openalex.org/W2587188645","https://openalex.org/W2168647256","https://openalex.org/W2316022653","https://openalex.org/W2345918665","https://openalex.org/W2359600231","https://openalex.org/W1990736598"],"abstract_inverted_index":{"We":[0,16,37,89],"present":[1,90],"a":[2,18,100],"path":[3],"planning":[4,97],"method":[5,19],"for":[6,22,65,99],"autonomous":[7],"underwater":[8,35,69,104],"vehicles":[9,70],"in":[10],"order":[11],"to":[12,28,40,84],"maximize":[13],"mutual":[14],"information.":[15],"adapt":[17],"previously":[20],"used":[21],"surface":[23],"vehicles,":[24],"and":[25,76],"extend":[26],"it":[27],"deal":[29],"with":[30],"the":[31,47,66,82],"unique":[32],"characteristics":[33],"of":[34,51],"vehicles.":[36],"show":[38],"how":[39],"generate":[41],"near-optimal":[42],"paths":[43,98],"while":[44,74],"ensuring":[45],"that":[46,68,77],"vehicle":[48],"stays":[49],"out":[50],"high-traffic":[52],"areas":[53],"during":[54],"predesignated":[55],"time":[56],"intervals.":[57],"In":[58],"our":[59],"objective":[60],"function":[61],"we":[62],"explicitly":[63],"account":[64],"fact":[67],"typically":[71],"take":[72],"measurements":[73],"moving,":[75],"they":[78,87],"do":[79],"not":[80],"have":[81],"ability":[83],"communicate":[85],"until":[86],"resurface.":[88],"field":[91],"results":[92],"from":[93],"ocean":[94],"trials":[95],"on":[96],"specific":[101],"AUV,":[102],"an":[103],"glider.":[105]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":7}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
